Floating navigation method and system for water wading vehicle, and vehicle
Patent Information
- Application Number
- PCT/CN2026/075989
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-04-16
- Filing Date
- 2026-01-30
- Publication Date
- 2026-10-22
Smart Images
Figure CN2026075989_22102026_PF_FP_ABST
Abstract
Description
Methods, systems and vehicles for floating navigation in water
[0001] This disclosure claims priority to Chinese Patent Application No. 202510475859.6, filed on April 16, 2025, entitled "A Method, System and Vehicle for Floating Navigation of a Water-Traveling Vehicle", the entire contents of which are incorporated herein by reference. Technical Field
[0002] This invention belongs to the technical field of vehicle water wading control methods, and specifically relates to a method, system and vehicle for floating and navigating in water. Background Technology
[0003] As users increasingly prioritize vehicle safety and demand a better navigation experience, cars with water-based navigation capabilities are gaining more attention. Some specialized vehicles capable of floating require manual operation to switch between land and water travel. Ordinary vehicles, especially in rainy or riverine areas, frequently encounter wading situations. Uncertain water depths and the inability to switch buoyancy modes promptly can lead to water ingress, threatening the safety of the driver and passengers. During driving, inattention or poor road conditions can cause vehicles to fall into water. Because most vehicles are front-heavy, the front of the vehicle typically enters the water first, and water quickly floods the interior, endangering the driver and passengers.
[0004] Therefore, it is necessary to design a method that can automatically determine the vehicle's status and control its attitude and enable it to float and navigate. Summary of the Invention
[0005] In view of this, the present disclosure provides a method, system and vehicle for floating and navigating in water, and the specific technical solution is as follows.
[0006] In a first aspect, embodiments of this disclosure provide a method for a water-borne vehicle to float and navigate, including:
[0007] Obtain the vehicle's first wading depth h1 and the time point corresponding to the first wading depth h1;
[0008] The first wading time t1, the first slip ratio, and the first tilt angle θ1 of the vehicle are obtained based on the first wading depth h1.
[0009] Obtain the vehicle's second wading depth and the time point corresponding to the second wading depth h2;
[0010] The second wading time t2, the second slip ratio s2, and the second tilt angle θ2 of the vehicle are obtained based on the second wading depth.
[0011] The vehicle status is determined based on the first wading time t1, the second wading time t2, the first slip ratio s1, the second slip ratio s2, the first tilt angle θ1, and the second tilt angle θ2.
[0012] The vehicle is controlled to float and navigate on water based on its status.
[0013] In some embodiments of this disclosure, obtaining the first wading time t1, the first slip ratio t2, and the first tilt angle θ2 of the vehicle based on the first wading depth includes:
[0014] Compare the first wading depth h1 with the first set depth value h m1 If h1 < h m1 If so, then return to obtain the first wading depth h1;
[0015] If h1≥h m1 Then, the time point corresponding to the first wading depth h1 is determined as the first wading time t1, and the first slip ratio s1 and the first tilt angle θ1 of the vehicle are obtained at the time point t1 corresponding to the first wading depth h1.
[0016] In some embodiments of this disclosure, obtaining the vehicle's second wading time t2, second slip ratio s2, and second tilt angle θ2 based on the second wading depth h2 includes:
[0017] If h2 < h1, then obtain the first wading depth again;
[0018] If h2 ≥ h1, compare the second wading depth h2 with the second set depth value h. m2 ;
[0019] If h2 < h m2 Then return to the step of obtaining the second wading depth h2 and the corresponding time point of the second wading depth;
[0020] If h2≥h m2 Then, the time point corresponding to the second wading depth h2 is determined as the second wading time t2, and the second slip ratio s2 and the second tilt angle θ2 of the vehicle are obtained at the time point corresponding to the second wading depth h2.
[0021] In some embodiments of this disclosure, determining the vehicle state based on the first wading time t1, the second wading time t2, the first slip ratio s1, the second slip ratio s2, the first tilt angle θ1, and the second tilt angle θ2 includes:
[0022] Obtain the interval Δt between the first wading time t1 and the second wading time t2, and obtain the set time t. m3 ;
[0023] Obtain the rate of change Δs of the first slip ratio s1 and the second slip ratio s2, and obtain the set slip ratio s. m3 ;
[0024] Obtain the change angle Δθ between the first tilt angle θ1 and the second tilt angle θ2, and obtain the set angle θ. m3 ;
[0025] Based on the interval time Δt and the set time t m3 The change rate value Δs, the set slip rate s m3 The changing angle Δθ and the set angle θ m3 Determine the status of the vehicle.
[0026] In some embodiments of this disclosure, the step of basing the time interval Δt on the set time t... m3 The change rate value Δs, the set slip rate s m3 The changing angle Δθ and the set angle θ m3 Determining the vehicle status includes:
[0027] If Δt < t m3 Then determine Δs and s m3 The magnitude relationship and Δθ with θ m3 Size relationship;
[0028] If Δs≥s m3 Or Δθ≥θ m3 If so, the vehicle is determined to be in a state of being submerged in water;
[0029] If Δt≥t m3 and Δθ<θ m3 Then determine Δs and s m3 Relationship;
[0030] If Δs < s m3 If so, the vehicle is determined to be in a water-wading state;
[0031] If Δs≥s m3 If so, the vehicle is determined to be in a slippery state.
[0032] In some embodiments of this disclosure, the method for floating and navigating a water-borne vehicle further includes:
[0033] If the vehicle is determined to be in a state of being submerged in water, the angle of the vehicle is adjusted by the thrusters, and the vehicle is then floated and navigating.
[0034] If the vehicle is determined to be in a state of wading or skidding, a prompt will be issued to the driver through the vehicle control center.
[0035] In some embodiments of this disclosure, the method for floating and navigating a water-borne vehicle further includes:
[0036] If the vehicle is determined to be in a water-wading state, the third water-wading depth h3 is detected, and the third preset depth value h is obtained. m3 ;
[0037] If h3≥h m3 If so, the vehicle status will be adjusted to a submerged state.
[0038] In some embodiments of this disclosure, the step of adjusting the vehicle's angle using the thrusters and enabling it to float if the vehicle is determined to be in a submerged state includes:
[0039] Obtain the third tilt angle θ3 of the vehicle, and adjust the angle of the vehicle by means of the thruster based on the third tilt angle θ3;
[0040] The fourth tilt angle θ4 of the adjusted vehicle is detected, and a fixed tilt angle θ is obtained. m4 ;
[0041] If θ4>θ m4 Then repeat the step of adjusting the angle of the vehicle using the thruster;
[0042] If θ4≤θ m4 Then the thrusters are activated to propel the vehicle to float on water.
[0043] Secondly, embodiments of this disclosure provide a floating navigation system for water-borne vehicles, comprising:
[0044] The sensor module is configured to: acquire the vehicle's first wading depth h1 and the time point corresponding to the first wading depth h1; acquire the vehicle's first wading time t1, first slip ratio s1, and first tilt angle θ1 based on the first wading depth h1; acquire the vehicle's second wading depth h2 and the time point corresponding to the second wading depth h2; and acquire the vehicle's second wading time t2, second slip ratio s2, and second tilt angle θ2 based on the second wading depth h2.
[0045] The control center module is configured to: determine the vehicle status based on the first wading time t1, the second wading time t2, the first slip ratio s1, the second slip ratio s2, the first tilt angle θ1, and the second tilt angle θ2, and control the vehicle to float and navigate based on the vehicle status.
[0046] In some embodiments of this disclosure, the control center module is further configured to:
[0047] Obtain the interval Δt between the first wading time t1 and the second wading time t2, and obtain the set time t. m3 ;
[0048] Obtain the rate of change Δs of the first slip ratio s1 and the second slip ratio s2, and obtain the set slip ratio s. m3 ;
[0049] Obtain the change angle Δθ between the first tilt angle θ1 and the second tilt angle θ2, and obtain the set angle θ. m3 ;
[0050] Based on the interval time Δt and the set time t m3 The change rate value Δs, the set slip rate s m3 The changing angle Δθ and the set angle θ m3 Determine the status of the vehicle.
[0051] In some embodiments of this disclosure, the control center module is further configured to:
[0052] If Δt < t m3 Then determine Δs and s m3 The magnitude relationship and Δθ with θ m3 Size relationship;
[0053] If Δs≥s m3 Or Δθ≥θ m3 If so, the vehicle is determined to be in a state of being submerged in water;
[0054] If Δt≥t m3 and Δθ<θ m3 Then determine Δs and s m3 Relationship;
[0055] If Δs < s m3 If so, the vehicle is determined to be in a water-wading state;
[0056] If Δs≥s m3 If so, the vehicle is determined to be in a slippery state.
[0057] Thirdly, embodiments of this disclosure provide a vehicle, including a propeller, a bracket, and a vehicle body. The four corners of the lower surface of the vehicle body are connected to the propeller via the bracket, and the vehicle body is equipped with the water-floating navigation system for wading vehicles described in any of the second aspects above.
[0058] Beneficial effects of this invention:
[0059] 1. This invention obtains the wading depth of a vehicle and determines the impact of the wading depth on the vehicle. For vehicles that have reached the wading conditions, the vehicle's attitude is adjusted so that the vehicle floats on the water and enters a floating navigation mode. This realizes the automatic entry of the vehicle into the floating navigation mode, improves the vehicle's practicality, and prevents drowning injuries or fatalities caused by the driver's operation error causing the floating navigation mode to be activated too late.
[0060] 2. When the present invention determines that the vehicle is in a water-wading state, it prompts the driver through the vehicle control center to manually intervene and control the vehicle; if the driver does not take action, it detects a third water-wading depth h3, and if the vehicle's water-wading depth h3 ≥ h m3 If the system detects that the vehicle has fallen into the water, it will adjust the vehicle's attitude and put it into a floating navigation mode to ensure the safety of the driver and passengers.
[0061] 3. This invention installs propellers on the lower surface of the vehicle body near the four corners. By detecting when the vehicle has fallen into the water, the propellers at the front of the vehicle push the front of the vehicle out of the water, thereby preventing the front of the vehicle from rapidly entering the water and causing injury or death to the driver due to the vehicle's weight.
[0062] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description
[0063] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0064] Figure 1 shows a schematic flowchart of a method for floating and navigating a water-borne vehicle according to an embodiment of the present disclosure.
[0065] Figure 2 shows a schematic diagram of the logical relationship for vehicle status determination in the water-borne vehicle floating navigation method provided in the embodiments of this disclosure.
[0066] Figure 3 shows a schematic diagram of the logical relationship of the vehicle's attitude adjustment after entering the water in the water navigation method provided in the embodiments of this disclosure.
[0067] Figure 4 illustrates the structural intent of a vehicle provided in an embodiment of this disclosure.
[0068] Figure 5 illustrates a top view of a vehicle structure provided in an embodiment of this disclosure.
[0069] Figure 6 illustrates a partial structural schematic of a vehicle provided in an embodiment of this disclosure. Detailed Implementation
[0070] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0071] Figure 1 shows a schematic flowchart of a method for floating and navigating a water-crossing vehicle according to an embodiment of this disclosure. Referring to Figure 1, the method for floating and navigating a water-crossing vehicle includes:
[0072] S1, obtain the vehicle's first wading depth h1 and the time point corresponding to the first wading depth h1, and obtain the vehicle's first wading time t1, first slip ratio s1 and first tilt angle θ1 based on the vehicle's first wading depth h1.
[0073] S2, obtain the vehicle's second wading depth h2 and the time point corresponding to the second wading depth h2, and obtain the vehicle's second wading time t2, second slip ratio s2 and second tilt angle θ2 based on the vehicle's second wading depth h2;
[0074] S3, determine the vehicle status based on the first wading time t1, the second wading time t2, the first slip ratio s1, the second slip ratio s2, the first tilt angle θ1, and the second tilt angle θ2;
[0075] S4 controls the vehicle to float and navigate based on its status.
[0076] This invention automatically acquires the vehicle's wading depth and determines the impact of the wading depth on the vehicle, enabling vehicles that meet the wading conditions to float on the water. This achieves automatic entry of the vehicle into the floating navigation mode, improving the vehicle's practicality. At the same time, it prevents the floating navigation mode from being activated too late due to driver error, thus preventing drowning injuries and fatalities.
[0077] Figure 2 illustrates the logical relationship of vehicle state determination in the water-crossing vehicle buoyancy method provided in this embodiment of the present disclosure. Referring to Figure 2, obtaining the vehicle's first wading time t1, first slip ratio s1, and first tilt angle θ1 based on the first wading depth h1 includes the following steps:
[0078] Compare the first wading depth h1 with the first set depth value h m1 , specifically, h m1The value varies depending on the vehicle model (due to differences in chassis, sealing, ventilation, etc.). For example, for a typical sedan, h... m1 For example, the radius of the vehicle's tires; for off-road vehicles, h m1 This can be the diameter of the tire. If h1 < h m1 Then, the vehicle's first wading depth h1 is obtained again. The vehicle's first wading depth h1 can be obtained again after a preset time interval.
[0079] If h1≥h m1 Then, the time point corresponding to the first wading depth h1 is determined as the first wading time t1, and the first slip ratio s1 and the first tilt angle θ1 of the vehicle corresponding to the first wading time t1 are obtained. The first tilt angle θ4 is the angle between the vehicle body and the horizontal plane.
[0080] Specifically, the slip ratio formula is: s = (ωr - v) / ωr × 100%, where ωr is the theoretical speed of the wheel (angular velocity ω × wheel radius r); and v is the actual speed of the vehicle. When the angular velocity ω and actual speed v of the vehicle at this time (when the first wading time t1) are substituted into the above formula, the current first slip ratio s1 is obtained.
[0081] Furthermore, obtaining the vehicle's second wading time t2, second slip ratio s2, and second tilt angle θ2 based on the second wading depth includes the following steps:
[0082] If h2 < h1, then the vehicle's first wading depth h1 is obtained again; the vehicle's first wading depth h1 can be obtained again after a preset time interval.
[0083] If h2 ≥ h1, compare the second wading depth h2 with the second set depth value h. m2 . Specifically, h m2 The value varies depending on the vehicle model (due to differences in chassis, sealing, ventilation, etc.). For example, for a typical sedan, h... m2 This can be increased by 10cm from the vehicle's tire radius; for off-road vehicles, h m2 It can be the tire diameter + 10cm; where h m1 >h m2 .
[0084] If h2 < h m2 If the vehicle's second wading depth h2 is obtained again, it can be obtained again after a preset time interval.
[0085] If h2≥h m2 Then, the time point corresponding to the second wading depth h2 is determined as the second wading time t2, and the second slip ratio s2 and the second tilt angle θ2 of the vehicle are obtained at the second wading depth h2.
[0086] Specifically, the slip ratio formula is: s = (ωr - v) / ωr × 100%, where ωr is the theoretical wheel speed (angular velocity ω × wheel radius r); and v is the actual vehicle speed. When the vehicle's angular velocity ω and actual speed v at this time (when the second wading time t2) are substituted into the above formula, the current second slip ratio s2 is obtained.
[0087] Furthermore, determining the vehicle status based on the first wading time t1, the second wading time t2, the first slip ratio s1, the second slip ratio s2, the first tilt angle θ1, and the second tilt angle θ2 includes the following steps:
[0088] Obtain the interval Δt between the first wading time t1 and the second wading time t2, and obtain the set time t. m3 Specifically, Δt = t2 - t1, where t1 is the first wading time and t2 is the second wading time.
[0089] Obtain the rate of change Δs of the first slip ratio s1 and the second slip ratio s2, and obtain the set slip ratio s. m3 Specifically, Δs = |s2 - s1|, where s1 is the first slip ratio, s2 is the second slip ratio, and Δs is the absolute value of the difference between the two slip ratios to ensure that the value is positive for easy comparison later.
[0090] Obtain the change angle Δθ between the first tilt angle θ1 and the second tilt angle θ2, and obtain the set angle θ. m3 Specifically, Δθ = |θ2 - θ1|, where θ1 is the first dip angle, θ2 is the second dip angle, and Δθ is the absolute value of the difference between the two dip angles to ensure that the value is positive for easy comparison later.
[0091] Specifically, based on the interval time Δt and the set time t m3 , change rate value Δs, set slip rate s m3 , changing angle Δθ and setting angle θ m3 Determining the vehicle's status includes the following steps:
[0092] If Δt < t m3 Then determine Δs and s m3 The magnitude relationship and Δθ with θ m3 Size relationship;
[0093] If Δs≥s m3 Or Δθ≥θ m3If the vehicle is in a state of submersion, its condition is determined to be submerged. The vehicle's angle is adjusted using the propellers, and it attempts to float. Specifically, the slip ratio formula is: s = (ωr - v) / ωr × 100%, where ωr is the theoretical wheel speed (angular velocity ω × wheel radius r); and v is the actual vehicle speed. When Δs exceeds a certain value (e.g., 30%), the vehicle may have already detached from the road and fallen into the water, or the vehicle may be slipping due to buoyancy. In this case, to be on the safe side, the vehicle's condition is determined to be submerged (because after a vehicle falls into the water, it quickly takes on water and sinks to the bottom within a very short time; to ensure personnel safety, it is determined to be submerged, thus increasing the survival rate).
[0094] When Δθ≥θ m3 The vehicle was shaking violently and there was a risk of overturning. Therefore, the vehicle was determined to be in a state of submersion. The thruster 10 was used to prevent the vehicle from overturning. The vehicle was determined to be in submersion mode based on one of the two conditions, which improved the safety of the personnel.
[0095] If Δt≥t m3 and Δθ<θ m3 Then determine Δs and s m3 The relationship.
[0096] If Δs < s m3 If the vehicle is found to be in a water-wading state, a prompt will appear in the vehicle control center, instructing the driver to manually intervene and control the vehicle; the third wading depth h3 will be detected, and the third set depth value h will be obtained. m3 When h3≥h m3 If so, the vehicle is determined to be in a state of being submerged in water.
[0097] When the present invention determines that the vehicle is in a water-wading state, a prompt will pop up in the vehicle control center, prompting the driver to manually intervene and control the vehicle; if the driver does not take action, after a certain period of time, a third water-wading depth h3 will be detected, and if h3 ≥ h m3 If the vehicle is found to be in water, it will be controlled to enter a floating navigation mode to ensure the safety of the driver and passengers.
[0098] If Δs≥s m3 If the vehicle is determined to be in a slippery state, a prompt will pop up in the vehicle control center, prompting the driver to manually intervene and control the vehicle.
[0099] Specifically, when the interval time Δt is relatively long and the vehicle tilt angle Δθ is relatively small, then Δs is less than the set value s. m3 If the vehicle is in a water-damaged state, a prompt will appear in the vehicle control center, instructing the driver to manually intervene and control the vehicle.
[0100] When the interval time Δt is relatively long and the vehicle tilt angle Δθ is relatively small, then Δs is greater than or equal to the set value s. m3 If the vehicle is in a slippery state, a prompt will appear in the vehicle control center, prompting the driver to manually intervene and control the vehicle.
[0101] Furthermore, if the vehicle is in a submerged state, the angle of the vehicle body is adjusted by the thrusters to achieve floating navigation, specifically including the following steps:
[0102] Based on the vehicle's third tilt angle θ3 at this time, the thrusters at the lower position of the vehicle body are activated to adjust the vehicle body angle;
[0103] Obtain the fourth tilt angle θ4 of the adjusted vehicle body, and obtain the constant tilt angle θ. m4 ;
[0104] If θ4>θ m4 Then repeat the process of activating the thrusters at the lower position of the vehicle body to adjust the angle of the vehicle body;
[0105] If θ4≤θ m4 Then the propulsion system is activated to propel the vehicle to float on the water.
[0106] Figure 3 illustrates the logical relationship of vehicle attitude adjustment after entering water in the water-wading vehicle buoyancy method provided in this embodiment of the present disclosure. In some embodiments of this disclosure, referring to Figure 3, when the vehicle enters the wading mode: if the wheel slip rate (calculated by wheel speed sensor combined with gyroscope signal) is less than 10%, the vehicle is determined to be on a normal road surface; if the wheel slip rate is greater than 10%, the vehicle is determined to be in a water-entry scenario, satisfying the first condition for the thruster 10 to operate. After the front compartment water depth sensor determines that the thruster 10 is submerged, the second operating condition for the front compartment thrusters (first thruster 11 and second thruster 12) is satisfied. At this time, the front compartment thrusters (first thruster 11 and second thruster 12) operate (the thruster 10 only operates when both of the above conditions are met), raising the front of the vehicle to facilitate a smooth entry into the water. When the water depth of the rear wheels exceeds that of the rear thrusters (third thruster 13 and fourth thruster 14), the rear thrusters (third thruster 13 and fourth thruster 14) start operating. When the water depth sensor determines that the vehicle's wading depth is 1 meter, the engine stops operating, and the electric motor drives the thrusters 10 to provide power for navigation. During navigation: The gyroscope determines the vehicle's attitude angle and sends the gyroscope signal to the control center. The control center adjusts the power of the thrusters 10 according to the vehicle's tilt angle. When the bow tilt angle is greater than 0 degrees, the thrusters 10 activate, causing the vehicle's front to tilt upwards. When the stern tilt angle is greater than 3 degrees, the power of the forward thrusters 10 decreases to reduce the power consumption generated by attitude adjustment, allowing more power to be used for the stern propulsion thrusters (third thrusters 13 and fourth thrusters 14). When the vehicle's outward tilt angle is greater than 1 degree, the gyroscope signal is transmitted to the thruster controller to adjust the power of the thrusters 10. When tilting outwards, the power of the inner thrusters 10 in the forward compartment decreases, while the power of the outer thrusters increases. When tilting inwards, the power of the inner thrusters 10 in the forward compartment increases, while the power of the outer thrusters decreases. The vehicle's water exit status is determined by combining tire slip rate and wading sensor readings to determine whether the thrusters 10 are in the water. When the vehicle exits the water, the rear thrusters (third thrusters 13 and fourth thrusters 14) continuously provide power to facilitate the vehicle's exit from the water. The thrusters (third thruster 13 and fourth thruster 14) cease operation after leaving the water surface.
[0107] In some embodiments of this disclosure, when a vehicle suddenly falls into the water, the vehicle is determined to be in a submerged state according to the vehicle buoyancy navigation method described in Embodiment 1. The vehicle control center collects the tilt angle of the vehicle body 20 from the gyroscope and activates the thrusters 10 at the lowest tilt angle, thereby enabling the vehicle body 20 to float on the water surface and preventing the vehicle from falling further into the water. Specifically, the sensor (gyroscope) determines the angle of the vehicle body 20 based on its attitude and transmits it to the vehicle control center. The control center then issues control signals (including various thrusters). The jetting angle, power, and operating time of the thrusters 10 are adjusted. For example, when the bow tilt angle of the vehicle's front compartment is greater than 0 degrees, the front compartment thrusters (first thruster 11 and second thruster 12) engage. When the vehicle tilts more than 0.5 degrees (the inner thruster 10 of the front compartment reduces power when tilting outwards and increases power on the outer side, and the inner thruster 10 of the front compartment increases power and decreases power on the outer side when tilting inwards), the vehicle body tilt angle is adjusted. When the stern tilt is less than 0 degrees, the front compartment thrusters (first thruster 11 and second thruster 12) are activated. When the tilt is greater than 3 degrees, the power is reduced. Through these adjustments, the vehicle is kept in a suspended state, thus facilitating subsequent operation by the operator for floating navigation or escaping the vehicle.
[0108] Furthermore, this disclosure also provides a floating navigation system for water-borne vehicles, including:
[0109] The sensor module is configured to: acquire the vehicle's first wading depth h1, acquire the vehicle's first wading time t1, first slip ratio s1 and first tilt angle θ1 based on the vehicle's first wading depth h1, acquire the vehicle's second wading depth, and acquire the vehicle's second wading time t2, second slip ratio s2 and second tilt angle θ2 based on the vehicle's second wading depth;
[0110] The control center module is configured to: determine the vehicle status based on the first wading time t1, the second wading time t2, the first slip ratio s1, the second slip ratio s2, the first tilt angle θ1, and the second tilt angle θ2, and control the vehicle to float and navigate based on the vehicle status.
[0111] Figure 4 illustrates the structural schematic of a vehicle provided in an embodiment of this disclosure. Referring to Figure 4, the vehicle provided in this embodiment includes a propeller 10, a support 40, and a vehicle body 20. The four corners of the lower surface of the vehicle body 20 are connected to the propeller 10 via the support 40. A buoyancy navigation system for wading vehicles, as described in any of the above embodiments, is installed on the vehicle body. Vibration-damping rubber 30 is provided between the propeller 10 and the support 40.
[0112] This invention connects propellers to the lower surface of the vehicle body near the four corners. By detecting that the vehicle has fallen into the water, the propellers at the front of the vehicle push the front of the vehicle out of the water, thereby preventing the heavy front of the vehicle from rapidly entering the water and causing injury or death to the driver. Then, by initiating floating navigation, the vehicle is safely taken off the water.
[0113] Optionally, the vehicle provided in this embodiment of the disclosure further includes a vehicle control center, which is configured to execute the waterborne vehicle buoyancy navigation method in any of the above embodiments.
[0114] Figure 5 illustrates a top-view structural schematic of a vehicle according to an embodiment of the present disclosure. Specifically, referring to Figure 5, this technology achieves vehicle navigation on water and control and adjustment of vehicle attitude by adding four thrusters 10 at the front and rear positions of the vehicle.
[0115] By arranging propellers (third propeller 13 and fourth propeller 14) on the outer side of the left and right longitudinal beams at the rear of the vehicle, the driving force for the vehicle to move back and forth when floating in water is provided. If the rear of the vehicle or the vehicle surface is relatively heavy, the nozzle angle of the third propeller 13 and fourth propeller 14 is adjusted, thereby using the third propeller 13 and fourth propeller 14 to push the vehicle upward, thereby preventing the vehicle from falling into the water.
[0116] Figure 6 illustrates a partial structural schematic of a vehicle provided in an embodiment of this disclosure. Referring to Figure 6, the following measures can be taken to control the vehicle's attitude.
[0117] Measure 1: Thrusters (first thruster 11 and second thruster 12) are arranged on both sides of the left and right longitudinal beams of the vehicle's front compartment to provide downward thrust. The vehicle's attitude is identified by the vehicle's gyroscope, and the power of the thrusters (first thruster 11 and second thruster 12) is adjusted to control the vehicle's tilt, preventing rollover caused by water waves hitting the vehicle body. This also raises the front of the vehicle, avoiding the risk of the front of the vehicle sinking and sinking into the water when moving rapidly on water. The thrusters 10 and the vehicle body 20 are fixed by brackets 40, and vibration-damping rubber 30 is added to the brackets 40 to isolate the vibration and noise generated by the thrusters 10 during operation.
[0118] Measure 2: Apply foam adhesive inside the vehicle's anti-collision beam and front compartment longitudinal beam to provide buoyancy through expansion. At the same time, design cavities in the cavity areas formed by the fenders and the cavity areas at the rear of the front bumper to provide buoyancy.
[0119] Measure 3: A water-filled bag is designed into the cavity area of the rear bumper and fixed to the vehicle body. In floating mode, the water is absorbed to increase the weight at the rear, causing the rear of the vehicle to sink. By designing floats and cavities at the front of the vehicle to increase buoyancy, and designing water-filled bags at the rear, the water is stored to increase the weight at the rear in navigation mode, thus achieving the effect of adjusting the vehicle's attitude.
[0120] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A method for floating and navigating a water-borne vehicle, characterized in that, include: Obtain the vehicle's first wading depth h1 and the time point corresponding to the first wading depth; The first wading time t1, the first slip ratio s1, and the first tilt angle θ1 of the vehicle are obtained based on the first wading depth h1. Obtain the second wading depth h2 of the vehicle and the time point corresponding to the second wading depth; The second wading time t2, the second slip ratio s2, and the second tilt angle θ2 of the vehicle are obtained based on the second wading depth h2. The vehicle status is determined based on the first wading time t1, the second wading time t2, the first slip ratio s1, the second slip ratio s2, the first tilt angle θ1, and the second tilt angle θ2. The vehicle is controlled to float and navigate on water based on its status.
2. The method for floating and navigating a water-borne vehicle according to claim 1, characterized in that, The step of obtaining the first wading time t1, the first slip ratio t2, and the first tilt angle θ2 of the vehicle based on the first wading depth includes: Compare the first wading depth h1 with the first set depth value h m1 If h1 < h m1 If so, then return to obtain the first wading depth h1; If h1≥h m1 Then, the time point corresponding to the first wading depth h1 is determined as the first wading time t1, and the first slip ratio s1 and the first tilt angle θ1 of the vehicle are obtained at the time point t1 corresponding to the first wading depth h1.
3. The method for floating and navigating a water-borne vehicle according to claim 2, characterized in that, The step of obtaining the vehicle's second wading time t2, second slip ratio s2, and second tilt angle θ2 based on the second wading depth h2 includes: If h2 < h1, then obtain the first wading depth again; If h2 ≥ h1, compare the second wading depth h2 with the second set depth value h. m2 ; If h2 < h m2 Then return to the step of obtaining the second wading depth h2 and the corresponding time point of the second wading depth; If h2≥h m2 Then, the time point corresponding to the second wading depth h2 is determined as the second wading time t2, and the second slip ratio s2 and the second tilt angle θ2 of the vehicle are obtained at the time point corresponding to the second wading depth h2.
4. The method for floating and navigating a water-borne vehicle according to claim 1, characterized in that, The step of determining the vehicle state based on the first wading time t1, the second wading time t2, the first slip ratio s1, the second slip ratio s2, the first tilt angle θ1, and the second tilt angle θ2 includes: Obtain the interval Δt between the first wading time t1 and the second wading time t2, and obtain the set time t. m3 ; Obtain the rate of change Δs of the first slip ratio s1 and the second slip ratio s2, and obtain the set slip ratio s. m3 ; Obtain the change angle Δθ between the first tilt angle θ1 and the second tilt angle θ2, and obtain the set angle θ. m3 ; Based on the interval time Δt and the set time t m3 The change rate value Δs, the set slip rate s m3 The changing angle Δθ and the set angle θ m3 Determine the status of the vehicle.
5. The method for floating and navigating a water-borne vehicle according to claim 4, characterized in that, The interval time Δt and the set time t are used as the basis. m3 The change rate value Δs, the set slip rate s m3 The changing angle Δθ and the set angle θ m3 Determining the vehicle status includes: If Δt < t m3 Then determine Δs and s m3 The magnitude relationship and Δθ with θ m3 Size relationship; If Δs≥s m3 Or Δθ≥θ m3 If so, the vehicle is determined to be in a state of being submerged in water; If Δt≥t m3 and Δθ<θ m3 Then determine Δs and s m3 Relationship; If Δs < s m3 If so, the vehicle is determined to be in a water-wading state; If Δs≥s m3 If so, the vehicle is determined to be in a slippery state.
6. The method for floating and navigating a water-borne vehicle according to claim 5, characterized in that, The method further includes: If the vehicle is determined to be in a state of being submerged in water, the angle of the vehicle is adjusted by the thrusters, and the vehicle is then floated and navigating. If the vehicle is determined to be in a state of wading or skidding, a prompt will be issued to the driver through the vehicle control center.
7. The method for floating and navigating a water-borne vehicle according to claim 6, characterized in that, The method further includes: If the vehicle is determined to be in a water-wading state, the third water-wading depth h3 is detected, and the third preset depth value h is obtained. m3 ; If h3≥h m3 If so, the vehicle status will be adjusted to a submerged state.
8. The method for floating and navigating a water-borne vehicle according to claim 6, characterized in that, If the vehicle is determined to be in a submerged state, adjusting the vehicle's angle using the thrusters and enabling it to float includes: Obtain the third tilt angle θ3 of the vehicle, and adjust the angle of the vehicle by means of the thruster based on the third tilt angle θ3; The fourth tilt angle θ4 of the adjusted vehicle is detected, and a fixed tilt angle θ is obtained. m4 ; If θ4>θ m4 Then repeat the step of adjusting the angle of the vehicle using the thruster; If θ4≤θ m4 Then the thrusters are activated to propel the vehicle to float on water.
9. A floating navigation system for water-borne vehicles, characterized in that, include: The sensor module is configured to: acquire the vehicle's first wading depth h1 and the time point corresponding to the first wading depth h1; acquire the vehicle's first wading time t1, first slip ratio s1, and first tilt angle θ1 based on the first wading depth h1; acquire the vehicle's second wading depth h2 and the time point corresponding to the second wading depth h2; and acquire the vehicle's second wading time t2, second slip ratio s2, and second tilt angle θ2 based on the second wading depth h2. The control center module is configured to: determine the vehicle status based on the first wading time t1, the second wading time t2, the first slip ratio s1, the second slip ratio s2, the first tilt angle θ1, and the second tilt angle θ2, and control the vehicle to float and navigate based on the vehicle status.
10. The water-floating navigation system for wading vehicles according to claim 9, characterized in that, The control center module is also configured as follows: Obtain the interval Δt between the first wading time t2 and the second wading time t2, and obtain the set time t. m3 ; Obtain the rate of change Δs of the first slip ratio s1 and the second slip ratio s2, and obtain the set slip ratio s. m3 ; Obtain the change angle Δθ between the first tilt angle θ1 and the second tilt angle θ2, and obtain the set angle θ. m3 ; Based on the interval time Δt and the set time t m3 The change rate value Δs, the set slip rate s m3 The changing angle Δθ and the set angle θ m3 Determine the status of the vehicle.
11. The water-floating navigation system for wading vehicles according to claim 10, characterized in that, The control center module is also configured as follows: If Δt < t m3 Then determine Δs and s m3 The magnitude relationship and Δθ with θ m3 Size relationship; If Δs≥s m3 Or Δθ≥θ m3 If so, the vehicle is determined to be in a state of being submerged in water; If Δt≥t m3 and Δθ<θ m3 Then determine Δs and s m3 Relationship; If Δs < s m3 If so, the vehicle is determined to be in a water-wading state; If Δs≥s m3 If so, the vehicle is determined to be in a slippery state.
12. A vehicle, characterized in that, The vehicle includes a propeller (10), a bracket (40), and a vehicle body (20). The four corners of the lower surface of the vehicle body (20) are connected to the propeller (10) through the bracket (40). The vehicle body is equipped with a water-floating navigation system according to any one of claims 9 to 11.